Robot Boundary Control With Haptic Return Guidance
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Solution Overview
Problem
Existing robot control methods are difficult and non-intuitive, especially when dealing with complex boundaries defined by curved hypersurfaces, as they require manual testing to trigger safety actions, which can be challenging and unsafe.
Innovation Solution
A method that allows robots to operate in two modes: the first mode triggers safety reactions when limits are exceeded, while the second mode applies a motor-driven actuating force to return the robot to a safe position, providing haptic feedback and allowing safe testing of limits without triggering safety reactions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual testing is used to trigger safety actions by guiding the robot to limits, then safety monitoring can be tested, but the process becomes difficult and non-intuitive especially with complex curved hypersurface boundaries
Solution Approach 1:
The patent replaces manual mechanical guidance testing with an automated computational method. The control device automatically determines distances to boundaries in the state space and triggers safety actions based on these calculations, eliminating the need for manual robot guidance to limit positions and making the testing process intuitive and systematic.
Solution Approach 2:
The system performs self-testing by automatically calculating distances from the robot's current state to predefined boundaries and determining whether safety actions should be triggered. This self-service approach eliminates the need for external manual testing while ensuring reliable safety monitoring of complex curved hypersurface boundaries.
2Reliability
If the robot is stopped with interrupted power supply when limits are exceeded, then safety is ensured, but the robot cannot be used for training purposes where exceeding limits is intentional
Solution Approach 1:
The patent implements dynamic switching between two operating modes: a first mode for normal operation where safety actions are triggered when limits are exceeded, and a second training mode where the robot can intentionally exceed limits without triggering safety stop. This dynamic adaptability allows the same robot system to serve both safety-critical operations and training purposes.
Solution Approach 2:
The system changes the operational parameters by switching between different operating modes. In the first operating mode, the distance threshold for triggering safety actions is effectively zero. In the second operating mode, the system allows intentional exceeding of limits by changing the operational context, enabling training while maintaining the ability to enforce safety when needed.
3Ease of operation
If haptic feedback is provided through motor-driven actuating force to guide the robot back to safe position, then intuitive control is achieved, but additional actuating mechanisms are required
Solution Approach 1:
The patent makes the existing robot actuators serve multiple functions: they perform both the primary task of moving the robot and the secondary function of providing haptic feedback by applying corrective forces when boundaries are approached. This multi-functionality eliminates the need for separate haptic feedback mechanisms while achieving intuitive control.
Solution Approach 2:
The system merges the motion control function with the haptic feedback function into a single integrated control mechanism. The motor-driven actuating force that guides the robot back to safe position is combined with the boundary monitoring system, creating a unified control approach that provides intuitive haptic feedback without requiring additional dedicated haptic devices.
Data Source
Figure 1~3
Figure 2
AI summary
According to a method according to the invention, a distance (d) of a state variable (x2) of the robot from a first Boundary (G1, G2) determined (S40); and a safety reaction (STOP 1) triggered (S60) if the distance satisfies a first condition (d > 0); and in the second operating mode in which the robot can be moved by manually applying a guiding force to the robot; the distance of the state variable of the robot from the first boundary is determined (S70); the safety response is not triggered because the distance satisfies the first condition; and a positioning force (F) is applied by motor to the robot as a function of the distance (S110) in order to reduce the distance when the robot is unhindered if the distance satisfies the first condition. Additionally or alternatively, to move the robot by manually applying a guiding force to the robot in an operating mode (M2), a distance (d) of a state variable (x1) of the robot from at least two different predetermined references (yn, yn+1, B) determined in a state space ({xi, xj}) of the robot (S200); the smallest (dmin) of the distances determined (S210-S270); and a positioning force (f) is applied by motor to the robot (S280) in order to minimize the smallest of the distances when the robot is unhindered.